Organization and Significant Accounting Policies - Schedule of Prior-year Adjustment - Consolidated Statements of Comprehensive Loss (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss	$ (186,638)	$ (151,293)	$ (143,032)
Foreign currency translation adjustments	2,471	(4,758)	(7,240)
Comprehensive loss	$ (184,167)	(156,051)	(150,272)
As Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss		(152,149)	(144,326)
Foreign currency translation adjustments		(4,696)	(7,198)
Comprehensive loss		(156,845)	(151,524)
Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Net loss		856	1,294
Foreign currency translation adjustments		(62)	(42)
Comprehensive loss		$ 794	$ 1,252